Control of the unbalanced spherical robot

The theoretical mechanical model of the spherical robot with the flywheels located in a sphere is considered. The important feature of this work is suggestion, that geometric center does not equal to center of mass of the system. The described design intends for motion control of a sphere on various trajectories. In this work the motion of the robot was investigated. Also the required controls to move across desired trajectory was received. In this work two different contact-models were considered: two-paramerical model of friction and the model of absolutly rough plane.